The Event Horizon of M87

The 6 billion solar mass supermassive black hole at the center of the giant elliptical galaxy M87 powers a relativistic jet. Observations at millimeter wavelengths with the Event Horizon Telescope have localized the emission from the base of this jet to angular scales comparable to the putative black hole horizon. The jet might be powered directly by an accretion disk or by electromagnetic extraction of the rotational energy of the black hole. However, even the latter mechanism requires a confining thick accretion disk to maintain the required magnetic flux near the black hole. Therefore, regardless of the jet mechanism, the observed jet power in M87 implies a certain minimum mass accretion rate. If the central compact object in M87 were not a black hole but had a surface, this accretion would result in considerable thermal near-infrared and optical emission from the surface. Current flux limits on the nucleus of M87 strongly constrain any such surface emission. This rules out the presence of a surface and thereby provides indirect evidence for an event horizon.Comment: 9 pages, 2 figures, submitted to Ap

Block-Matching Optical Flow for Dynamic Vision Sensor- Algorithm and FPGA Implementation

Rapid and low power computation of optical flow (OF) is potentially useful in robotics. The dynamic vision sensor (DVS) event camera produces quick and sparse output, and has high dynamic range, but conventional OF algorithms are frame-based and cannot be directly used with event-based cameras. Previous DVS OF methods do not work well with dense textured input and are designed for implementation in logic circuits. This paper proposes a new block-matching based DVS OF algorithm which is inspired by motion estimation methods used for MPEG video compression. The algorithm was implemented both in software and on FPGA. For each event, it computes the motion direction as one of 9 directions. The speed of the motion is set by the sample interval. Results show that the Average Angular Error can be improved by 30\% compared with previous methods. The OF can be calculated on FPGA with 50\,MHz clock in 0.2\,us per event (11 clock cycles), 20 times faster than a Java software implementation running on a desktop PC. Sample data is shown that the method works on scenes dominated by edges, sparse features, and dense texture.Comment: Published in ISCAS 201

Independent Motion Detection with Event-driven Cameras

Unlike standard cameras that send intensity images at a constant frame rate, event-driven cameras asynchronously report pixel-level brightness changes, offering low latency and high temporal resolution (both in the order of micro-seconds). As such, they have great potential for fast and low power vision algorithms for robots. Visual tracking, for example, is easily achieved even for very fast stimuli, as only moving objects cause brightness changes. However, cameras mounted on a moving robot are typically non-stationary and the same tracking problem becomes confounded by background clutter events due to the robot ego-motion. In this paper, we propose a method for segmenting the motion of an independently moving object for event-driven cameras. Our method detects and tracks corners in the event stream and learns the statistics of their motion as a function of the robot's joint velocities when no independently moving objects are present. During robot operation, independently moving objects are identified by discrepancies between the predicted corner velocities from ego-motion and the measured corner velocities. We validate the algorithm on data collected from the neuromorphic iCub robot. We achieve a precision of ~ 90 % and show that the method is robust to changes in speed of both the head and the target.Comment: 7 pages, 6 figure

A frozen super-Earth orbiting a star at the bottom of the Main Sequence

We observed the microlensing event MOA-2007-BLG-192 at high angular resolution in JHKs with the NACO adaptive optics system on the VLT while the object was still amplified by a factor 1.23 and then at baseline 18 months later. We analyzed and calibrated the NACO photometry in the standard 2MASS system in order to accurately constrain the source and the lens star fluxes. We detect light from the host star of MOA-2007-BLG-192Lb, which significantly reduces the uncertainties in its char- acteristics as compared to earlier analyses. We find that MOA-2007-BLG-192L is most likely a very low mass late type M-dwarf (0.084 [+0.015] [-0.012] M\odot) at a distance of 660 [+100] [-70] pc orbited by a 3.2 [+5.2] [-1.8] M\oplus super-Earth at 0.66 [+0.51] [-0.22] AU. We then discuss the properties of this cold planetary system.Comment: published version A&A 540, A78 (2012) A&A, 10 pages, 7 Figure

Numerical Simulation of Snow Deposition Around living Snow Fences

In this study, computational fluid dynamics (CFD) was used to investigate the air flow around porous snow fences to gain insight into snow transport and deposition in the vicinity of fences. Numerical simulations were performed to validate the CFD approach using experimental data from a wind tunnel study. Subsequent simulations were used to test the use of a porosity model to represent fence geometry and determine the effect of fence spacing for fences comprised of multiple rows. The results demonstrate that CFD simulations can reproduce the aerodynamics around porous fences. Additionally, the flow field generated with a porosity model is in close agreement with that from a model with explicit representation of fence porosity. Simulations of fences comprised of two rows spaced at various distances demonstrate that when the row spacing is small the fence behaves as a single row

Comet 9P/Tempel 1: Interpretation with the Deep Impact Results

According to our common understandings, the original surface of a short-period comet nucleus has been lost by sublimation processes during its close approaches to the Sun. Sublimation results in the formation of a dust mantle on the retreated surface and in chemical differentiation of ices over tens or hundreds of meters below the mantle. In the course of NASA's Deep Impact mission, optical and infrared imaging observations of the ejecta plume were conducted by several researchers, but their interpretations of the data came as a big surprise: (1) The nucleus of comet 9P/Tempel 1 is free of a dust mantle, but maintains its pristine crust of submicron-sized carbonaceous grains; (2) Primordial materials are accessible already at a depth of several tens of cm with abundant silicate grains of submicrometer sizes. In this study, we demonstrate that a standard model of cometary nuclei explains well available observational data: (1) A dust mantle with a thickness of ~1-2 m builds up on the surface, where compact aggregates larger than tens of micrometers dominate; (2) Large fluffy aggregates are embedded in chemically differentiated layers as well as in the deepest part of the nucleus with primordial materials. We conclude that the Deep Impact results do not need any peculiar view of a comet nucleus.Comment: 11 pages, 1 figure, 1 table. ApJ letters, 673, L199-20

The IceCube Neutrino Observatory: Instrumentation and Online Systems

The IceCube Neutrino Observatory is a cubic-kilometer-scale high-energy neutrino detector built into the ice at the South Pole. Construction of IceCube, the largest neutrino detector built to date, was completed in 2011 and enabled the discovery of high-energy astrophysical neutrinos. We describe here the design, production, and calibration of the IceCube digital optical module (DOM), the cable systems, computing hardware, and our methodology for drilling and deployment. We also describe the online triggering and data filtering systems that select candidate neutrino and cosmic ray events for analysis. Due to a rigorous pre-deployment protocol, 98.4% of the DOMs in the deep ice are operating and collecting data. IceCube routinely achieves a detector uptime of 99% by emphasizing software stability and monitoring. Detector operations have been stable since construction was completed, and the detector is expected to operate at least until the end of the next decade.Comment: 83 pages, 50 figures; updated with minor changes from journal review and proofin